Industrial robot provided with horizontal multistage telescopic device

Patent metadata

Field	Value
Publication number	US-9573281-B2
Application number	US-201414315487-A
Country	US
Kind code	B2
Filing date	Jun 26, 2014
Priority date	Jun 27, 2013
Publication date	Feb 21, 2017
Grant date	Feb 21, 2017

Abstract

An industrial robot is provided with a horizontal multistage telescopic device. In the device, a slider is mounted to s base so as to be movable in a first direction and in a second direction which are opposite to each other along the horizontal direction. An output arm has an end in the second direction, the end being provided with an output arm support, and is expanded in the first direction from the output arm support. The output arm support is mounted to a slider so as to be horizontally movable in the first and second directions. The output arm has an end in the first direction, to which an end effector is mounted. A motor is mounted to an end of the slider in the second direction. A rotation transmitting member transmits torque of the motor to a second rotor of a movement mechanism.

First claim

What is claimed is:

1. An industrial robot comprising a horizontal multistage telescopic device, the horizontal multistage telescopic device including:
a base including a slider support, the slider support including a slider receiver;
a slider including a slider guide disposed below the slider, the slider guide being provided along a longitudinal direction of the slider, the slider guide being movably supported by the slider receiver to movably mount the slider to the base, the slider having a width dimension in a horizontal direction set to be larger than a width dimension of the base, the slider being mounted to the base so as to be movable in a first direction and in a second direction that are opposite to each other along the horizontal direction, the slider having a movement limitation position as a home position in the second direction, the slider being disposed above the base;
an output arm having an end in the second direction, the end being provided with an output arm support, the output arm being expanded in the first direction from the output arm support, the output arm support being mounted to the slider so as to be horizontally movable in the first and second directions, the output arm having an end in the first direction to which an end effector, such as a hand, is mounted, the output arm being provided above the slider;
a movement mechanism including a first rotor and a second rotor mounted to the ends in the first and second directions, respectively, of the slider, and a linear member mounted across the first and second rotors, the linear member having a first part connected to the base and a second part connected to the output arm support, the second part being opposite to the first part in order to move the output arm in the first direction with the movement of the slider by a distance corresponding to at least a stroke of movement of the slider;
a motor mounted to an end of the slider in the second direction, the motor being provided spaced apart upward from an upper surface of the slider so as not to interfere with a movement region of the output arm; and
a rotation transmitting member for transmitting torque of the motor to the second rotor of the movement mechanism, the rotation transmitting member being configured by a rotation transmission mechanism including a driving rotor mounted to a rotary shaft of the motor, a driven rotor provided so as to coaxially and integrally rotate with the second rotor, and a transmission linear member mounted across the driving rotor and the driven rotor.

2. The industrial robot according to claim 1 wherein:
the slider is provided above the base;
the rotation transmitting member includes a direction change rotor rotatably mounted proximate to the second rotor to change a moving direction of the linear member; and
the movement mechanism is configured such that the linear member is mounted across the driving rotor and the direction change rotor, as well as across the first rotor and the second rotor.

3. The industrial robot according to claim 2 , wherein:
the output arm support includes an output arm receiver;
the slider includes an output arm guide that is provided along a longitudinal direction of the slider; and
the output receiver is movably brought into contact with the output arm guide to movably mount the output arm to the slider.

4. The industrial robot according to claim 2 , wherein the first rotor, the second rotor, the driving rotor and the direction change rotor are each configured by a flat pulley, and the linear member is configured by a flat belt.

5. The industrial robot according to claim 1 , wherein
the output arm support includes an output arm receiver;
the slider includes an output arm guide that is provided along a longitudinal direction of the slider; and
the output receiver is movably brought into contact with the output arm guide to movably mount the output arm to the slider.

6. The industrial robot according to claim 5 , wherein:
the slider guide and the output arm guide each includes a first flat surface, a second flat surface, a third flat surface, and a fourth flat surface, each extending in the longitudinal direction with corresponding adjacent surfaces forming substantially a right angle between each of the first flat surface, the second flat surface, the third flat surface, and the fourth flat surface, and each corresponding adjacent surface;
the slider receiver is configured by a first set of first cam followers and a second set of cam followers, the first set including four first cam followers that are mounted to an end of the slider support of the base so as to be in contact with the respective surfaces of the slider guide, the second set including four first cam followers that are mounted to the other end of the slider support of the base so as to be in contact with the respective surfaces of the slider guide; and
the output arm receiver is configured by a first set of second cam followers and a second set of second cam followers, the first set including four second cam followers that are mounted to an end of the output arm support so as to be in contact with the respective surfaces of the output arm guide, the second set including four second cam followers that are mounted to the other end of the output arm support so as to be in contact with the respective surfaces of the output arm guide.

7. The industrial robot according to claim 1 , wherein:
the slider is provided above the base;
the motor is provided on a side face of the slider so as not to interfere with movement regions of the output arm support and the output arm; and
the rotation transmitting member is configured to directly rotate the second rotor by the motor.

8. The industrial robot according to claim 7 , wherein:
the output arm support includes an output arm receiver;
the slider includes an output arm guide that is provided along a longitudinal direction of the slider; and
the output receiver is movably brought into contact with the output arm guide to movably mount the output arm to the slider.

9. The industrial robot according to claim 1 , wherein the rotation transmission mechanism includes the driving rotor and the driven rotor each configured by a sprocket, and the transmission linear member configured by a chain.

10. The industrial robot according to claim 1 , wherein:
the first rotor and the second rotor are each configured by a pulley having an outer periphery that is provided with concavo/convex engagement portions at a predetermined pitch; and
the linear member is configured by a belt having an inner surface that is provided with concavo/convex engagement portions at the same predetermined pitch.

11. The industrial robot according to claim 1 , wherein the movement mechanism includes V pulleys as the first rotor and the second rotor, respectively, and a V belt as the linear member.

12. The industrial robot according to claim 1 , wherein the movement mechanism includes sprockets as the first rotor and the second rotor, respectively, and a chain as the linear member.

13. The industrial robot according to claim 1 , wherein:
the driving rotor and the driven rotor of the rotation transmission mechanism are each configured by a pulley having an outer periphery that is provided with concavo/convex engagement portions at a predetermined pitch; and
the linear member is configured by a belt having an inner periphery that is provided with concavo/convex engagement portions at a predetermined pitch.

14. The industrial robot according to claim 1 , wherein the rotation transmission mechanism includes the driving rotor and the driven rotor each being config

Assignees

• Denso Wave Inc

Inventors

• Takahashi Yoshinori
• Saito Takayuki

Classifications

• B25J18/02

  extensible · CPC title

• B25J9/023

  Cartesian coordinate type · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J18/025 Primary

  telescopic · CPC title